On the union of Jordan regions and collision-free translational motion amidst polygonal obstacles
Discrete & Computational Geometry
Minimum partitioning simple rectilinear polygons in O(n log log n) - time
SCG '89 Proceedings of the fifth annual symposium on Computational geometry
Computational methods for task-directed sensor data fusion and sensor planning
International Journal of Robotics Research
Elements of information theory
Elements of information theory
Motion planning with uncertainty: a landmark approach
Artificial Intelligence - Special volume on planning and scheduling
Approximation algorithms for lawn mowing and milling
Computational Geometry: Theory and Applications
Bayesian Networks and Decision Graphs
Bayesian Networks and Decision Graphs
Dynamic Programming and Optimal Control
Dynamic Programming and Optimal Control
Robot Motion Planning
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Proceedings of the 10th international conference on Architectural support for programming languages and operating systems
Sensor management using an active sensing approach
Signal Processing
Planning Algorithms
Information-driven search strategies in the board game of CLUE®
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Nonmyopic Multiaspect Sensing With Partially Observable Markov Decision Processes
IEEE Transactions on Signal Processing
Multisensor fusion in the frame of evidence theory for landmines detection
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Reactive navigation in dynamic environment using a multisensorpredictor
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Automatic sensor placement for model-based robot vision
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A neural network approach to complete coverage path planning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Vision sensor planning for 3-D model acquisition
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
On Robotic Optimal Path Planning in Polygonal Regions With Pseudo-Euclidean Metrics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Discrimination gain to optimize detection and classification
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Pattern Analysis and Machine Intelligence
Control of a nonholonomic mobile robot using neural networks
IEEE Transactions on Neural Networks
Information-driven search strategies in the board game of CLUE®
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Computing highly occluded paths on a terrain
Proceedings of the 21st ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems
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A methodology is developed for planning the sensing strategy of a robotic sensor deployed for the purpose of classifying multiple fixed targets located in an obstacle-populated workspace. Existing path planning techniques are not directly applicable to robots whose primary objective is to gather sensor measurements using a bounded field of view (FOV). This paper develops a novel approximate cell-decomposition method in which obstacles, targets, sensor's platform, and FOV are represented as closed and bounded subsets of an Euclidean workspace. The method constructs a connectivity graph with observation cells that is pruned and transformed into a decision tree from which an optimal sensing strategy can be computed. The effectiveness of the optimal sensing strategies obtained by this methodology is demonstrated through a mine-hunting application. Numerical experiments show that these strategies outperform shortest path, complete coverage, random, and grid search strategies, and are applicable to nonoverpass capable robots that must avoid targets as well as obstacles.